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@@ -6,6 +6,7 @@ import (
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"cicv-data-closedloop/common/util"
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pji_msgs "cicv-data-closedloop/pjibot_delivery_msgs"
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"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
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+ "github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
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"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
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"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
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"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
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@@ -34,6 +35,9 @@ var (
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// 6
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TopicOfSysInfo = "/sys_info"
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RuleOfSysInfo []func(data *pji_msgs.SysInfo) string
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+ // 7
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+ TopicOfRobotPose = "/robot_pose"
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+ RuleOfRobotPose []func(data *geometry_msgs.PoseStamped) string
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)
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func InitTriggerConfig() {
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@@ -116,6 +120,13 @@ func InitTriggerConfig() {
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continue
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}
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RuleOfSysInfo = append(RuleOfSysInfo, f)
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+ } else if TopicOfRobotPose == topic2 { // 7
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+ f, ok := rule.(func(data *geometry_msgs.PoseStamped) string)
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+ if ok != true {
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+ c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pji_msgs.SysInfo) string):", err)
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+ continue
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+ }
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+ RuleOfRobotPose = append(RuleOfRobotPose, f)
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} else {
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c_log.GlobalLogger.Error("未知的topic：", topic2)
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continue
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